Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 194

11 Language Specifications
Conceptual drawings of each stop type for the execution program when interrupt conditions are established
during robot movement are shown below.
Stop Type External Override 100% (Max. Speed)
Stop type 1
Speed
(Omission)
S1 = S2
Stop type 2
Speed
( S )
Execution
Speed
complete stop
( L )
S3 = S4
Force sense  Force sense control enabled
stop
Speed
( F )
 Force sense control disabled (Same as
Stop type)
Speed
11-182 Other Related Commands
Interrupt
Stop distance S1
Interrupt
Interrupt
Full movement
distance S3
Interrupt
Immediate stop
50 [mm/s]
50 [deg/s]
Interrupt
External Override 50%
Speed
Time
Speed
Time
Speed
Interrupt
Time
 Force sense control enabled
Speed
Time
 Force sense control disabled (Same as
Stop type)
Speed
Time
Interrupt
Stop distance S2
Time
Interrupt
Time
Full movement
distance S4
Time
Interrupt
Immediate stop
50 [mm/s]
50 [deg/s]
Time
Interrupt
Time